Feedforward Controller of Ill-Conditioned Hysteresis Using Singularity-Free Prandtl-Ishlinskii Model.

IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
U-Xuan TanWei Tech Ang

Abstract

Piezoelectric, magnetostrictive, and shape memory alloy actuators are gaining importance in high-frequency precision applications constrained by space. Their intrinsic hysteretic behavior makes control difficult. The Prandtl-Ishlinskii (PI) operator can model hysteresis well, albeit a major inadequacy: the inverse operator does not exist when the hysteretic curve gradient is not positive definite, i.e., ill condition occurs when slope is negative. An inevitable tradeoff between modeling accuracy and inversion stability exists. The hysteretic modeling improves with increasing number of play operators. But as the piecewise continuous interval of each operator reduces, the model tends to be ill-conditioned, especially at the turning points. Similar ill-conditioned situation arises when these actuators move heavy loads or operate at high frequency. This paper proposes an extended PI operator to map hysteresis to a domain where inversion is well behaved. The inverse weights are then evaluated to determine the inverse hysteresis model for the feedforward controller. For illustration purpose, a piezoelectric actuator is used.

References

Feb 2, 2008·IEEE Transactions on Neural Networks·Chih-Lyang Hwang, Chau Jan

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Citations

Sep 8, 2010·The Review of Scientific Instruments·Guoying Gu, Limin Zhu
Jun 15, 2011·IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society·U-Xuan TanJaydev P Desai
Oct 12, 2019·Micromachines·Jinqiang GanMing-Feng Ge
Dec 7, 2018·The Review of Scientific Instruments·Jinqiang Gan, Xianmin Zhang

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